Existence and stability of limit cycles in the model of a planar passive biped walking down a slope

DOI10.1098/RSPA.2019.0450MaRDI QIDQ5160845zbMATH OpenOpenAlexWikidataFDO

Authors Oleg Makarenkov

Publication date 29 October 2021

Published in Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1904.00517, https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7016544

zbMATH Keywords

limit cycleswitched systemapplied mathematicspassive planar bipedperturbation theory for maps

Mathematics Subject Classification ID

Discontinuous ordinary differential equations (34A36) Topological structure of integral curves, singular points, limit cycles of ordinary differential equations (34C05) Bifurcation theory for ordinary differential equations (34C23) Perturbations of ordinary differential equations (34D10) Fixed points and periodic points of dynamical systems; fixed-point index theory; local dynamics (37C25) Stability problems in rigid body dynamics (70E50)

Abstract: We consider the simplest model of a passive biped walking down a slope given by the equations of switched coupled pendula (McGeer, 1990). Following the fundamental work by Garcia et al (1998), we view the slope of the ground as a small parameter $gammage0$. When $gamma=0$ the system can be solved in closed form and the existence of a family of limit cycles (i.e. potential walking cycles) can be established explicitly. As observed in Garcia et al (1998), the family of limit cycles disappears when $gamma$ increases and only isolated asymptotically stable cycles (walking cycles) persist. However, no rigorous proofs of such a bifurcation (often referred to as Melnikov bifurcation) have ever been reported. The present paper fills in this gap in the field and offers the required proof.

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Cited in

(12)

• Common formation mechanism of basin of attraction for bipedal walking models by saddle hyperbolicity and hybrid dynamics
• Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction
• Erratum to: ``Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model
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• Self-excited periodic motion in underactuated mechanical systems using two-fuzzy inference system
• Walking dynamics of a semi-passive compass-like robot with impulse thrust
• Existence and stability of a limit cycle in the model of a nonuniform rimless wheel rolling down a slope
• Revisiting the stability of 2D passive biped walking: local behavior
• Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
• A different switching surface stabilizing an existing unstable periodic gait: an analysis based on perturbation theory
• Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
• A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot

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